At 10am, North Korean vice-minister for foreign affairs, Choi Sun-hee, strode into the Ritz Carlton with her small team.
After his remarks, Trump headed to the Canadian air base at Bagotville by helicopter before boarding Air Force One and setting off for Singapore, where he was scheduled to arrive late Sunday.
Choi's fiery outburst at Trump's national security adviser, John Bolton, and Vice President Mike Pence a fortnight ago was blamed for Trump suddenly, and briefly, cancelling the summit.
"The entire world is watching the historic summit between the DPRK (North Korea) and the United States of America", Kim told Lee, using his country's official name, the Democratic People's Republic of Korea.
Trump and Kim plan to meet in Singapore on Tuesday.
Trump had called Kim "Little Rocket Man" and threatened to unleash "fire and fury like the world has never seen" on North Korea as it conducted several ballistic missile tests in defiance of worldwide warnings.
Enemies since the 1950-53 Korean War, the leaders of North Korea and the United States have never met previously - or even spoken on the phone.
At a press conference earlier on Sunday, Loong said that the summit cost approximately $20 million, which is a price the Singapore was "willing to pay".
Ahead of his much-anticipated meeting with Kim, the US President sounded optimistic and said the meeting would be a "one-time shot" at peace.
"I love my friend Lindsey Graham, but I think first we need a chance at peace", New Jersey Democratic Sen.
Both leaders have arrived in Singapore for their historic meeting.
It is an extraordinary turnaround from the tensions of a year ago, when Kim accelerated his weapons programmes - earning the North more sets of UN Security Council sanctions - and the two men traded personal insults and threats of war.
More than 1,000 people paid for a photo with the Kim-Trump lookalikes over the weekend.
Later on Sunday, Kim left the St Regis hotel in central Singapore in a motorcade that included his stretch Mercedes Benz limousine and travelled to the presidential palace, known as the Istana, where he met Prime Minister Lee Hsien Loong.
Trump has said he hopes to make a legacy-defining deal for the North to give up its nuclear weapons, though he has recently sought to minimize expectations, saying more than one meeting may be necessary.
In a report describing Kim's departure from Pyongyang, KCNA said a "changed era" had come about, adding that views on achieving denuclearisation and a "permanent and durable peace-keeping mechanism on the Korean Peninsula" would be exchanged at the summit.
"This deal was applauded by many in the worldwide community who are not in the missile range of Iran, but Israel and Saudi Arabia and others said this deal will ultimately give Iran a nuclear arsenal", Netanyahu said.